基于 MuJoCo 动力学引擎与 pinocchio 机器人动力学库搭建的多平台开源机器人仿真框架.zip

# Franka Emika Panda Description (MJCF) Requires MuJoCo 2.3.3 or later. ## Overview This package contains a simplified robot description (MJCF) of the [Franka Emika Panda](https://www.franka.de/) developed by [Franka Emika](https://www.franka.de/company). It is derived from the [publicly available URDF description](https://github.com/frankaemika/franka_ros/tree/develop/franka_description). <p float="left"> <img src="panda.png" width="400"> </p> ## URDF → MJCF derivation steps 1. Converted the DAE [mesh files](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/meshes/visual) to OBJ format using [Blender](https://www.blender.org/). 2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf). 3. Eliminated the perfectly flat `link0_6` from the resulting submeshes created for `link0`. 4. Created a convex decomposition of the STL collision [mesh file](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/meshes/collision) for `link5` using [V-HACD](https://github.com/kmammou/v-hacd). 5. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the [URDF](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/robots)'s `<robot>` clause in order to preserve visual geometries. 6. Loaded the URDF into MuJoCo and saved a corresponding MJCF. 7. Matched inertial parameters with [inertial.yaml]( https://github.com/frankaemika/franka_ros/blob/develop/franka_description/robots/common/inertial.yaml). 8. Added a tracking light to the base. 9. Manually edited the MJCF to extract common properties into the `<default>` section. 10. Added `<exclude>` clauses to prevent collisions between `link7` and `link8`. 11. Manually designed collision geoms for the fingertips. 12. Added position-controlled actuators for the arm. 13. Added an equality constraint so that the left finger mimics the position of the right finger. 14. Added a tendon to split the force equally between both fingers and a position actuator acting on this tendon. 15. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze. ## License This model is released under an [Apache-2.0 License](LICENSE).